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Passivity of time-delayed whole-body operational space control with series elastic actuation.

Ye ZhaoLuis Sentis
Published in: Humanoids (2016)
Keyphrases
  • control system
  • decision making
  • joint space
  • impedance control
  • search space
  • low dimensional
  • multi modal
  • higher dimensional
  • sliding mode
  • learning algorithm
  • control method
  • control theory
  • trajectory tracking